The Mars Science Laboratory (MSL) high-gain antenna (HGA) sits low on the deck, leaving the sky occluded in many directions by other parts of the rover. Each drive must end with the rover at a heading where the Earth will be unoccluded during the next HGA...

An improved version of EXOS software allows for the modeling of fabrics, mixtures, and porous materials, and also provides the ability to accept hex mesh geometries. The code employs a novel numerical method, a hybrid particle finite element approach, as well as particles and elements in tandem, each modeling distinct aspects of...

The Robonaut 2 (R2) Dexterous Robot is the result of an effort to build a two-armed, ten-fingered humanoid robot torso capable of assembly work. This invention concerns a multi-fingered hand, and is composed of several parts. One is a tendon-driven, four-link, four-degree-of-freedom robotic...

Various advancements have been made in the development of miniature in vivo surgical robots. These robots are designed to perform Laparoendo scopic Single-Site Surgery (LESS). After being inserted through a single incision, these robots can perform surgical procedures in a dexterous...

The Mars Science Laboratory (MSL) robotic arm is ten times more massive than any Mars robotic arm before it, yet with similar accuracy and repeatability positioning requirements. In order to assess and validate these requirements, a higher-fidelity model and calibration processes were...

The objective of this research was to develop a fundamentally new method for detecting hidden moving targets within noisy and cluttered data-streams using a novel “soliton resonance” effect in nonlinear dynamical systems.

This software consists of a set of application programs that support ground-based image processing for in situ missions. These programs represent a collection of utility routines that perform miscellaneous functions in the context of the ground data system. Each one fulfills some specific need as...

The Mars Exploration Rovers (MERs), Spirit and Opportunity, far exceeded their original drive distance expectations and have traveled, at the time of this reporting, a combined 29 kilometers across the surface of Mars. The Rover Sequencing and Visualization Program (RSVP), the...

This work covers two programs that accomplish the same goal: creation of a “reachability map” from stereo imagery that tells where operators of a robotic arm can reach or touch the surface, and with which instruments. The programs are “marsreach” (for MER) and “phxreach.” These programs make...

This new release of MBDyn is a software engine that calculates the dynamics states of kinematic, rigid, or flexible multibody systems. An MBDyn multibody system may consist of multiple groups of articulated chains, trees, or closed-loop topologies. Transient top ologies are handled through...